JP2016146130A - Convoy traveling management device and convoy traveling management program - Google Patents

Convoy traveling management device and convoy traveling management program Download PDF

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JP2016146130A
JP2016146130A JP2015023594A JP2015023594A JP2016146130A JP 2016146130 A JP2016146130 A JP 2016146130A JP 2015023594 A JP2015023594 A JP 2015023594A JP 2015023594 A JP2015023594 A JP 2015023594A JP 2016146130 A JP2016146130 A JP 2016146130A
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vehicle
length
platoon
row
merging
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JP6422024B2 (en
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良人 近藤
Yoshito Kondo
良人 近藤
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アイシン・エィ・ダブリュ株式会社
Aisin Aw Co Ltd
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Abstract

PROBLEM TO BE SOLVED: To enable a merging vehicle to smoothly merge without relying on inter-vehicle communication.SOLUTION: When a length of a convoy 10 is larger than a merging distance 4, regardless of existence of a merging vehicle, a first vehicle 2a in the convoy 10: divides the same into small convoys (a front convoy 11 and a rear convoy 12) having lengths shorter than the merging distance 4; and widens an inter-vehicle distance between the small convoys to leave a merging space therebetween for the merging vehicle. Thus, the merging distance 4 can be prevented from being closed up by the small convoy because the same has the length shorter than the merging distance 4, and the merging space can be kept at least a place between the convoys, in front of the front convoy 11, and behind the rear convoy 12. Then, the merging vehicle can smoothly merge into a main traffic lane 6 by choosing, from among them, the merging space most convenient therefor.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a convoy travel management apparatus and a convoy travel management program, and relates to, for example, a device that manages convoy travel in a merging section.

Research has been conducted on a technique for running in a row by a plurality of vehicles following the preceding vehicle.
The platooning can provide various advantages such as improved fuel consumption, reduced traffic congestion, and reduced operating costs.
As a technology for performing such a row running, there is a “vehicle group formation control device” of Patent Document 1.
In this technology, a group of vehicles that run in a convoy is notified of the time at which the merging vehicle reaches the merging point through inter-vehicle communication with the merging vehicle when passing through the merging section, and determines overlap in the merging channel. .
And when it overlaps, the space which divides a formation and makes a joining vehicle approach is provided, and approach of a joining vehicle is performed smoothly.

  However, in the technique described in Patent Document 1, it is assumed that a group of vehicles that are traveling in a row and a merging vehicle perform inter-vehicle communication, and the merging vehicle does not support mutual inter-vehicle communication. Had the problem of not being able to respond.

Japanese Patent Laid-Open No. 11-328584

  An object of the present invention is to smoothly join merging vehicles without depending on inter-vehicle communication.

(1) In the first aspect of the present invention, when the vehicle is mounted on a vehicle that travels in a row using inter-vehicle communication and is mounted on a leading vehicle, the travel information is transmitted to a subsequent vehicle that forms the row, When mounted on a succeeding vehicle, it is a platoon traveling management device for controlling traveling based on traveling information from the leading vehicle, and other vehicle information acquiring means for acquiring information on other vehicles constituting the platoon; Based on the acquired other vehicle information, a traveling position in the platoon is determined, and a vehicle dispatching means for allocating the vehicle by instructing the traveling position to other vehicles constituting the platoon, and the length of the platoon is obtained. Platoon length obtaining means, merging section identifying means for identifying a merging section where another road merges with a road on which the platoon will travel, and merging section length acquisition for obtaining the length of the identified merging section Means and said acquisition Division means for determining a division position for dividing the platoon into platoons having a length shorter than the merging section when the length of the merging section is longer than the length of the acquired convoy; The means provides a platooning management device characterized by instructing the other vehicle to the determined division position.
(2) In the invention according to claim 2, the vehicle allocation means allocates a vehicle having the smallest acceleration resistance to the rearmost of the platoon based on the acquired information on the other vehicle, and the determination means The platooning management device according to claim 1, wherein the vehicle position is determined as a division position.
(3) In the invention described in claim 3, the vehicle allocation means allocates a plurality of vehicles having a minimum total acceleration resistance to the rear of the platoon based on the acquired information on other vehicles, and the determination means 3. The convoy travel management apparatus according to claim 2, wherein the division position is determined so as to divide the plurality of vehicles that have been dispatched as a rear convoy.
(4) In the invention according to claim 4, when the traveling direction after a predetermined branch point of the road to be traveled is different, the vehicle allocation means allocates the vehicle so that the same traveling direction continues, 3. The platooning management apparatus according to claim 2, wherein the determining unit determines a position of a vehicle having a different destination at the branch point as a division position.
(5) In the invention according to claim 5, the determination means determines the division position when the current position is within a predetermined distance from the branch point. Providing equipment.
(6) In the invention according to claim 6, the own vehicle is a head vehicle of the divided rear row, and another merged vehicle enters between the divided front row and the rear row in the merge section. The vehicle is provided with overtaking means for transmitting travel information to the following vehicle constituting the rear row, overtaking the front row and merging in front of the front row, and merging ahead of the front row with the overtaking means. 4. The platooning management device according to claim 3, wherein the dispatching means dispatches a vehicle belonging to the front platoon to a succeeding vehicle of the platoon.
(7) In the invention according to claim 7, when the own vehicle is a vehicle belonging to the divided front row, and when traveling information is received from the leading vehicle of the rear row, traveling is performed based on the received traveling information. The row running management device according to claim 6 is provided.
(8) In the invention according to claim 8, the platoon length acquisition means acquires the platoon length based on a length obtained by adding the vehicle length of each vehicle constituting the platoon and the distance between the vehicles. A platoon running management device according to any one of claims 1 to 7 is provided.
(9) In the invention according to claim 9, a predetermined distance required for a merging vehicle to merge before or after the platoon in the merging section is added to the length of the acquired platoon, or A platooning management device according to any one of claims 1 to 8, further comprising length correction means for subtracting from the length of the acquired merging section. To do.
(10) In the invention according to claim 10, the length correction means is configured to calculate at least one of a road type of a road after merging from the merging section, a speed limit on the road, and a traffic volume of the road. The convoy travel management apparatus according to claim 9, wherein the predetermined distance is determined by using.
(11) In the invention described in claim 11, the length correction means increases the degree of correction as the acquired platoon length is longer and the traffic volume in the travel section is larger. A convoy travel management device according to claim 9 or claim 10 is provided.
(12) In the invention described in claim 12, when mounted on a vehicle that performs a platooning using inter-vehicle communication and is mounted on a leading vehicle, the traveling information is transmitted to a subsequent vehicle constituting the platoon, When mounted on a succeeding vehicle, this is a program that causes a computer to function as a platooning management device that controls traveling based on traveling information from the leading vehicle, and acquires information on other vehicles that constitute the platoon A vehicle information acquisition function, a vehicle allocation function that determines a travel position in the platoon based on the acquired other vehicle information, and dispatches the vehicle by instructing the travel position to another vehicle that constitutes the platoon; A platoon length acquisition function for acquiring the platoon length, a merging section specifying function for specifying a merging section where other roads merge with a road on which the platoon will travel, and the length of the specified merging section The merge section length acquisition function to be acquired, and a division that divides the formation into platoons having a length shorter than the merge section when the length of the acquired merge section is longer than the length of the acquired formation The division function for determining the position is realized by a computer, and the dispatch function instructs the other vehicle to determine the divided position.

  The present invention can smoothly join the joining vehicles without depending on the inter-vehicle communication by changing the running mode of the formation in the joining section.

It is the figure which showed the structure of the vehicle control apparatus. It is a figure for demonstrating the division example of a formation. It is a figure for demonstrating the joining aspect of the platoon row | line | column after a division | segmentation, and a joining vehicle. It is a figure for demonstrating the example which determines the division | segmentation position of a vehicle. It is a figure for demonstrating the example which determines the division | segmentation position of a vehicle. It is a flowchart for demonstrating the procedure of a division | segmentation process. It is a flowchart for demonstrating the procedure of a division | segmentation method determination process. It is a figure for demonstrating the case where it drive | works avoiding a merge lane. It is a figure for demonstrating preparation of a lane movement plan. It is a figure for demonstrating preparation of a lane movement plan. It is a figure for demonstrating the timing which determines the presence or absence of a division | segmentation, or a lane. It is a flowchart for demonstrating the procedure of a lane movement plan process.

(1) Outline of the embodiment In the first embodiment shown in FIG. 2, the leading vehicle 2 a has a convoy, regardless of the presence or absence of a confluence vehicle, when the convoy 10 is longer than the confluence section 4. 10 is divided into platoons shorter than the length of the merging section 4 (the front platoon 11 and the rear platoon 12), and further, the distance between the two platoons is widened to provide an interval for the joining vehicles to join.
When dividing the formation, the division is completed before the leading vehicle of the formation reaches the start point of the merging section.

Since all the platoons are shorter than the length of the merging section 4, the merging section 4 is not blocked by the platoons, and it is between the platoons, before the front platoon 11, or after the rear platoon 12. An interval for merging is formed in at least one place.
The merging vehicle can smoothly merge into the main lane 6 by merging aiming at an interval that is most likely to enter among these intervals.

Also, if there is no merging vehicle, after the convoy passes through the confluence section, that is, after the last vehicle of the convoy passes the end point of the confluence section, the interval between the rear convoy 12 and the front convoy 11 is reduced, Group again into one platoon 10.
Since the leading vehicle 2a performs the above-described deformation of the traveling mode regardless of the presence or absence of the merging vehicle, the merging vehicle can smoothly merge with the platoon 10 without inter-vehicle communication.

  Further, in the second embodiment shown in FIG. 8, when the length of the convoy 10 is longer than the length of the confluence section 4, the convoy 10 avoids the confluence lane regardless of the presence or absence of the confluence vehicle. The merging vehicles are smoothly merged by traveling in the lane.

(2) Details of the embodiment (first embodiment)
FIG. 1 is a diagram illustrating a configuration of a vehicle control device according to the present embodiment.
The vehicle control device 1 is mounted on each vehicle that performs a convoy travel, and includes a control unit 110, a storage unit 120, an automobile information detection unit 130, a display unit 140, an input unit 150, a communication unit 160, a surrounding information collection unit 170, An actuator control unit 180 and the like are communicably connected via a bus line.

The controller 110 includes a CPU (Central Processing Unit) 111, a ROM (Read Only Memory) 112, a RAM (Random Access Memory) 113, and the like.
The CPU 111 performs various types of information processing and control in accordance with programs stored in the storage unit 120 and the like.

  In the present embodiment, the navigation device performs normal navigation processing such as route search from the current position to the destination and route guidance, and the convoy travel management device communicates with other vehicles forming the convoy (vehicle-to-vehicle communication). Inter-vehicle communication) to manage (control) platooning.

The vehicle control device 1 also has an automatic driving function when functioning as a navigation device, and includes map information 121 in a storage unit 120 described later, a detection value in a vehicle information detection unit 130, and a peripheral information collection unit 170. Comprehensively grasp each information such as the own vehicle, surroundings, and the front from the collected contents, etc., determine the start / interruption / continuation of the automatic operation, and determine the content of the automatic operation, and various operation systems of the actuator control unit 180 (Actuator) is controlled.
In addition, you may comprise so that a driver may drive | operate manually or to drive semiautomatically, receiving a driver | operator's assistance.

The ROM 112 is a read-only memory and stores basic programs, parameters, and the like for the vehicle control apparatus 1 to operate.
The RAM 113 is a readable / writable memory and provides a working memory when the CPU 111 operates.
In the present embodiment, the RAM 113 stores, for example, route information to the destination (a travel route that defines a route from the current location to the destination), a lane movement plan, other vehicle information, Supports information processing by the CPU 111.

Here, the other vehicle information is information obtained by inter-vehicle communication regarding other vehicles that form a convoy with the own vehicle. For example, the vehicle ID (identification code) for identifying the other vehicle, the vehicle length ( Information on other vehicles such as the total length of the vehicle), acceleration resistance, destination, etc., and current travel information of other vehicles (current position, speed, acceleration, lane, steering amount, brake amount, throttle amount, etc.) is there. The travel information is continuously received from other vehicles and updated every moment.
The vehicle control device 1 not only receives the other vehicle information of the other vehicle, but also provides the other vehicle with the information of itself as other vehicle information.

  In the present embodiment, all information processing and control are performed by the control unit 110 as an example, but a plurality of ECUs (Engine Control Units) may be combined.

  The storage unit 120 is configured using, for example, a storage medium such as a hard disk or an EEPROM (Electrically Erasable Programmable Read-Only Memory), and includes map information 121, high-precision road map information 122, own vehicle information 123, a navigation program 124. Data and programs such as the convoy travel program 125 are stored.

  The map information 121 is information regarding nodes and links that define the road network, and road attributes such as highways, general roads, and one-way streets. The vehicle control device 1 uses these to determine the purpose from the current position. Route search to the ground or route guidance of vehicles.

The high-accuracy road map information 122 is, for example, more detailed information on the road such as the entrance and exit positions of the expressway, the position of the merge point, the length of the merge section, the start and end points of the merge section, the number of lanes, and the like. Therefore, the vehicle control device 1 determines whether or not to divide the platoon using these pieces of information, and plans a lane to travel.
The start point of the merging section is used to divide the platoon before the leading vehicle of the platoon passes the start point when dividing the platoon. The end point of the merging section is used to determine whether or not the platoon has passed the merging section depending on whether or not the last vehicle in the platoon has passed the point. .
The own vehicle information 123 is information on physical data about the own vehicle such as acceleration resistance, vehicle length, vehicle width, number of kilometers traveled, displacement, weight, and the like. These pieces of information are transmitted to other vehicles constituting the platoon by inter-vehicle communication and stored as other vehicle information.

The navigation program 124 is a program that causes the CPU 111 to perform the above navigation function.
The convoy travel program 125 is a program for causing the CPU 111 to exhibit the convoy travel management function. This function will be described in detail later.

  The vehicle information detection unit 130 is a functional unit that detects various control values of the host vehicle, and includes a current position detection unit 131, a vehicle speed sensor 132, an acceleration sensor 133, a steering sensor 134, a brake sensor 135, a throttle sensor 136, and the like. Yes.

The current position detection unit 131 detects the current position of the host vehicle using, for example, GPS (Global Positioning System). When the road that is currently traveling is a plurality of lanes, the lane that is traveling can also be detected.
The current position detection unit 131 may detect the current position using detection values of the vehicle speed sensor 132, the acceleration sensor 133, and the steering sensor 134 in addition to the GPS.

The vehicle speed sensor 132 detects the current vehicle speed (traveling speed), and the acceleration sensor 133 detects the current acceleration.
The steering sensor 134, the brake sensor 135, and the throttle sensor 136 detect the steering operation amount, the brake operation amount, and the throttle operation amount, respectively.
These pieces of information are transmitted to the following vehicle as travel information when the vehicle control device 1 operates in a head mode described later.

The display unit 140 includes, for example, a display device such as a liquid crystal screen, and displays various information such as a navigation operation screen and a row running management screen.
On the navigation operation screen, you can set destinations and routes. On the convoy travel management screen, you can set the necessary settings for organizing and canceling convoys, and other vehicles that are organizing convoy travel. The information about is displayed.

  For example, the input unit 150 is installed on the surface of the display unit 140 and includes a touch panel, a button device, a microphone, and the like. The input unit 150 touches a button displayed on the display unit 140, presses the button device, and instructs The user can input information to the vehicle control device 1 by inputting a voice or a selection, and can set a navigation function or a platooning management function.

The communication unit 160 performs inter-vehicle communication with other vehicles that form the formation, or communicates with a server via a network.
The inter-vehicle communication may be performed directly using a wireless device or may be performed via a server via a network.
The vehicle control device 1 communicates with the server through the communication unit 160 to correct the GPS function or receive traffic information.

The surrounding information collection unit 170 is a functional unit that collects information on the surroundings of the host vehicle, and includes a distance sensor 171 and a camera 172.
The distance sensor 171 is installed in front of and behind the host vehicle, and measures the distance between the preceding vehicle and the following vehicle using, for example, a laser or a millimeter wave. This distance is used, for example, when maintaining a distance between vehicles.

  The cameras 172 are installed in front of and behind the host vehicle, and take images of the front and rear. This image is used, for example, for image recognition of a preceding vehicle or a succeeding vehicle, or image recognition of a lane of a running road. In addition to the GPS signal, the CPU 111 recognizes a lane that is currently running, an adjacent lane, or the like by using lane image recognition.

In addition to this, the peripheral information collection unit 170 includes a wind direction sensor, a wind speed sensor, a wind pressure sensor, a road surface state detection device (a mu sensor, a slip sensor), and the like. It can also be used to correct.
Furthermore, the surrounding information collection unit 170 can also acquire information from a beacon installed on the road.

The actuator control unit 180 is a functional unit that controls each actuator mounted on the vehicle, and includes a steering actuator 181, a brake actuator 182, a throttle actuator 183, and the like.
These actuators operate the steering, the brake and the throttle, respectively.
When the vehicle control apparatus 1 performs automatic driving, the operation timing and the operation amount are controlled by the CPU 111, and when the driver operates, the driver operates.

Here, in the vehicle control device 1 configured as described above, an operation when the convoy travel program 125 is executed by the CPU 111 and functions as a convoy travel management device will be described.
When the vehicle control device 1 functions as a convoy travel management device, the own vehicle becomes the leading vehicle of the convoy, and the convoy travels by transmitting the traveling information to the following vehicle constituting the convoy, and the own vehicle is the leading vehicle There is a subsequent mode in which traveling information is received from the vehicle and travels in a row as a subsequent vehicle.

  As described above, the vehicle control device 1 is mounted on a vehicle that travels in a row using inter-vehicle communication. When the vehicle control device 1 is mounted on a leading vehicle, the vehicle control device 1 transmits travel information to a subsequent vehicle that forms the row, and When mounted, it functions as a convoy travel management device that controls travel based on travel information from the leading vehicle.

Hereinafter, the operation of the vehicle control device 1 mounted on the leading vehicle and functioning in the leading mode will be described as the leading vehicle operation, and the operation of the vehicle control device 1 mounted on the following vehicle and functioning in the subsequent mode will be described. The description will be simplified by describing the operation of the following vehicle.
For example, “the leading vehicle has issued a division command” means that the vehicle control device 1 mounted on the leading vehicle and functioning in the leading mode has issued the division command.

The leading vehicle acquires and recognizes the other vehicle information (the ID of the subsequent vehicle, the position in the platoon, the acceleration resistance, etc.) of the subsequent vehicle that constitutes the platoon through inter-vehicle communication, and also recognizes the traveling information of the own vehicle. Send to.
As described above, the travel information includes the current vehicle position, vehicle speed, acceleration, steering operation amount, brake operation amount, throttle operation amount, and other values detected by the vehicle information detection unit 130. Information to prescribe.

In addition to transmitting driving information, the leading vehicle changes the driving mode (driving mode) of the convoy to facilitate the merging of the merging vehicle in the merging lane (the lane that may overlap with the merging merging vehicle) Let
In the traveling mode of the present embodiment, when the convoy is traveling in the merge lane, the length of the convoy and the length of the confluence section are compared, and when the length of the convoy is longer than the length of the confluence section, The platoon is divided into platoons shorter than the merging section, and an interval for joining the merging vehicles is provided between the divided platoons.

As described above, the vehicle control device 1 includes a determination unit that determines the running mode of the platoon in the merging section based on the length of the merging section and the length of the platoon.
And in this embodiment, when the length of the convoy is longer than the length of the merging section, the division position for dividing the platoon into the platoon of the shorter length than the merging section is determined, and the determined division position is Instruct other vehicles in the convoy.

On the other hand, the succeeding vehicle follows the traveling of the leading vehicle based on the traveling information transmitted from the leading vehicle while the distance sensor 171 detects the inter-vehicle distance from the preceding vehicle and keeps the inter-vehicle distance within a certain range. (Trace) Drive your vehicle.
If you follow the vehicle just before the platoon, the response of the following vehicle will be delayed, or the lane will easily become distorted as the vehicle shifts later. By controlling the travel position and speed of the leading vehicle based on the information, it is possible to arrange the platoon and travel stably.
The succeeding vehicle travels following the immediately preceding vehicle and, when receiving a division command from the leading vehicle, leads the succeeding vehicle behind the own vehicle to leave the platoon and becomes the leading vehicle in the platoon queue after leaving.

Next, a procedure for dividing the formation configured as described above will be described.
The leading vehicle automatically travels while transmitting traveling information to each succeeding vehicle, while each succeeding vehicle travels according to traveling information transmitted from the leading vehicle while maintaining an inter-vehicle distance from the preceding vehicle.

When the division of the head vehicle is determined, the division position is determined by a method described later, and a division command is issued to the following vehicle at the division position.
When the succeeding vehicle receives the division command, the succeeding vehicle switches from the succeeding mode to the leading mode, sets the vehicle following the own vehicle as the succeeding vehicle of the own vehicle, leaves the convoy, and forms a platoon.
After the departure, the subsequent vehicle becomes the leading vehicle in the platoon row, and transmits its own travel information to the subsequent vehicle in the platoon row.

Other vehicles belonging to the platoon row switch the travel information transmission source from the first vehicle in the original platoon row to the first vehicle in the platoon row relating to the division, and thereafter travel following the first vehicle in the platoon row.
In this way, the platoon is divided into a front platoon row (hereinafter referred to as a front platoon row) and a rear platoon row (hereinafter referred to as a rear platoon row), and the front platoon row and the rear platoon row independently run from each other. .
As described above, when the vehicle control apparatus 1 receives the division position instruction and is positioned at the head of the divided platoon row, the vehicle control device 1 sends the traveling information to the following vehicle as the leading vehicle for the divided platoon row. Send.

On the other hand, when the divided platoon trains are reorganized and returned to a large platoon (rejoining), it is performed as follows.
The leading vehicle in the rear row narrows the distance between the widened vehicles and approaches the tail of the front row (the vehicle immediately before the division), and the leading vehicle in the front row moves toward the rear row when the rear row approaches the predetermined distance. Rejoining is completed by transferring each vehicle to its own line.
In response to this, the leading vehicle in the rear row switches from the leading mode to the subsequent mode, and travels based on traveling information sent from the leading vehicle of the preceding vehicle (the leading vehicle after rejoining).
Each vehicle in the rear row switches the travel information transmission source from the first vehicle in the rear row to the first vehicle in the first row.

As another form, for example, the rear row overtakes the front row, joins the front row, and forms both platoon rows into one row with the rear row forward and the front row rearward. You can also.
In this case, the leading vehicle in the rear row incorporates each vehicle in the front row into its own row as the following vehicle.
In response to this, the leading vehicle in the front row switches the mode from the leading mode to the succeeding mode while maintaining a distance from the last vehicle in the rear row, based on the traveling information transmitted by the leading vehicle in the rear row. Run.
Further, the following vehicle in the front row switches the travel information transmission source from the first vehicle in the front row to the first vehicle in the rear row.

This embodiment is based on the premise that a formation has already been formed. An example of a procedure for forming a formation is as follows.
The leading candidate vehicle that is going to be the leading vehicle and the succeeding candidate vehicle that may become the following vehicle are both equipped with the vehicle control device 1. First, the leading candidate vehicle is vehicle information of the succeeding candidate vehicle. To get.

Here, the vehicle information of the succeeding candidate vehicle includes the current position of the succeeding candidate vehicle and the direction with respect to the leading candidate vehicle, the travel route information of the succeeding candidate vehicle, the vehicle information of the succeeding candidate vehicle, the peripheral information of the succeeding candidate vehicle, and the succeeding candidate vehicle. Vehicle attribute information.
These may be acquired by inter-vehicle communication, or may be acquired by inquiring the server of the management center.

  Next, the first candidate vehicle is determined based on the vehicle position, the vehicle direction, and the position and direction of the subsequent candidate vehicle. Whether there is a vehicle that can form a platoon of each succeeding candidate vehicle depending on whether the azimuth angle of the succeeding candidate vehicle with respect to its own vehicle direction is within a predetermined range. Judging.

Next, when there is a subsequent candidate vehicle that can form a formation, the head candidate vehicle determines whether any of these subsequent candidate vehicles has transmitted a formation formation permission signal.
If there is a subsequent candidate vehicle that has transmitted a formation formation permission signal, the head candidate vehicle reads the destination and travel schedule of the subsequent candidate vehicle, and the destination and travel schedule are suitable for performing the convoy travel. Determine whether or not.

When there is a subsequent candidate vehicle suitable for the destination and travel schedule, the leading candidate vehicle instructs the subsequent candidate vehicle to be incorporated into the platoon as a subsequent vehicle, and forms the platoon.
Through the above procedure, a formation is formed by the leading vehicle traveling in the leading mode and the following vehicle traveling in the following mode.

In addition, when there are a plurality of succeeding candidate vehicles, the leading candidate vehicle determines the order of the succeeding candidate vehicles in the platoon according to a predetermined algorithm, for example, with the succeeding candidate vehicle having a small acceleration resistance at the end, and each succeeding candidate vehicle. The candidate vehicle is notified of the tracking target vehicle ID. For example, the nth subsequent candidate vehicle from the front is notified of the ID of the (n−1) th vehicle from the front.
Then, each subsequent candidate vehicle travels in a row based on the traveling information of the leading vehicle while maintaining a predetermined inter-vehicle distance from the rear of the vehicle with the notified ID.
The vehicle control device 1 can determine the order of each vehicle in the platoon in this way, and can arrange subsequent vehicles in that order.

  The same applies to the case where a subsequent vehicle or another row is newly added to a group of vehicles already running in a row, and the ID of the last vehicle in the row to be transferred is set to the following vehicle or In addition to notifying the head vehicle of the vehicle forming the platoon for tracking, the running information of the head vehicle of the transfer destination is provided to the transferred vehicle.

Below, the case where a formation is divided | segmented into a platoon so that the length of a formation may become shorter than a confluence | merging area is demonstrated.
FIG. 2 is a diagram for explaining an example of the division of the platoon in the merging section.
A road 5 shown in FIG. 2A is, for example, an expressway, and a junction path 3 that joins the road 5 and a branch path 8 that branches from the road 5 are connected.
The road 5 is a one-way two-lane road having a main lane 6 and a sub lane 7. For example, the main lane 6 corresponds to a main lane and the sub lane 7 corresponds to an overtaking lane.

The merge channel 3 merges into the road 5 from the main lane 6 side in the traveling direction of the road 5, and a merge section 4 that runs adjacent to the main lane 6 is provided at the merge point.
The merged vehicle can smoothly merge into the main lane 6 by accelerating in the merge section 4 and entering the main lane 6.
Thus, in this example, the main lane 6 is a merge lane because there is a possibility that a vehicle traveling in the lane and a merge vehicle overlap.

The branch road 8 is a road that branches from the side of the main lane 6 to the outside in the traveling direction of the road 5 and leads to a different direction from the road 5, for example, an exit of an expressway or another expressway It is an introduction path.
Thus, although the main lane 6 is a merging lane adjacent to the merging section 4 and the branch road 8, the sub lane 7 is not a merging lane.

Here, as shown to Fig.2 (a), the vehicles 2a-2d shall drive | work toward the direction of the confluence | merging area 4 which showed this lane 6 by the arrow line.
These vehicle groups form a platoon 10 in this order from the top and perform platooning. The vehicle 2a is the leading vehicle, and the vehicles 2b to 2d are subsequent vehicles.

Hereinafter, when the vehicles 2a to 2d are not particularly distinguished, they are referred to as the vehicle 2 and are not distinguished by lowercase letters. The same applies to other components.
Further, when the vehicle 2a is the leading vehicle, it is described as the leading vehicle 2a, and when the vehicle 2a is a following vehicle, it is described as the following vehicle 2a, and the prefixes following the leading and following are attached as necessary.
Further, in the figure, the leading vehicle is indicated by a bold line.

The leading vehicle 2a stores the IDs of the subsequent vehicles 2b to 2d and the traveling order in the platoon and transmits the traveling information of the own vehicle to the subsequent vehicles 2b to 2d.
On the other hand, the succeeding vehicles 2b to 2d follow the traveling of the leading vehicle 2a based on the traveling information transmitted from the leading vehicle 2a while managing the distance between the preceding vehicles 2a to 2c (that is, the leading vehicle 2a to 2d). It travels (following the travel route and acceleration / deceleration of the vehicle 2).

When the leading vehicle 2a approaches the merging section 4 while traveling on the merging lane, the length Lj of the merging section 4 and the length Lt of the platoon 10 are compared using a mathematical formula described later (actually, the correction is made according to the situation). It is determined whether or not the length Lt of the convoy 10 is longer than the length Lj of the merging section 4.
When the length Lt of the platoon 10 is longer than the length Lj of the merge section 4, the division position of the platoon 10 is determined so that the platoon length is shorter than Lj, and the platoon is determined at the division position. 10 is divided.

  When the convoy 10 travels in the sub lane 7 in the merging section 4, the sub lane 7 is not a merging lane, so the vehicle control device 1 does not determine whether or not the vehicle is divided. Since there may be other vehicles evacuating to the sub lane 7, even if the vehicle is traveling on the sub lane 7, the vehicle may be divided for the other vehicles.

In the example of FIG. 2B, the leading vehicle 2a determines that the platoon 10 is divided into platoons at the position of the following vehicle 2c, and the forward platoon 11 (leading vehicle 2a, following vehicle 2b) and the backward platoon 12 (leading head). The trains are reorganized into vehicles 2c and subsequent vehicles 2d).
In the following, the vehicles 2 constituting the platoon will be written in parentheses as described above.

After the division, the front row 11 is accelerated, the rear row 12 is decelerated, or both are performed, so that the speed of the rear row 12 is slower than that of the front row 11, and the front row 11 and the rear row 12 An interval is provided for the joining vehicles to join.
This operation is performed by the leading vehicle 2a and the leading vehicle 2c cooperatively adjusting the speed of the individual platoon trains via inter-vehicle communication.

  Here, the leading vehicle 2a is the main leading vehicle and the leading vehicle 2c is the secondary leading vehicle, and the leading vehicle 2a issues a command to the leading vehicle 2c to adjust the vehicle speed while adjusting its own vehicle speed. An inter-vehicle distance necessary for merging is formed between the front row 11 and the rear row 12.

It is possible to provide the necessary inter-vehicle distance even if the platoon train after division does not keep in touch, but it is more reliable if a master-slave relationship is set and operated in cooperation with the first vehicle of the platoon train after division The inter-vehicle distance can be set.
As described above, when the vehicle control unit 1 divides the formation into two platoon formations, the front formation and the rear formation, the vehicle control apparatus 1 instructs at least one of acceleration for the front formation or deceleration for the rear formation.

Next, a method for determining the presence / absence of division using the conditional expression of the length Lj of the merging section 4 and the length Lt of the convoy 10 performed by the leading vehicle 2a will be described.
First, the leading vehicle 2a specifies the merge section 4 existing ahead from the map information 121 and the like, acquires the length Lj of the merge section 4 from the high-accuracy road map information 122 and stores it in the RAM 113.
As described above, the vehicle control device 1 includes a merging section identifying unit that identifies a merging section where another road merges with a road on which the formation is scheduled to travel, and a merging section length that acquires the length of the identified merging section. An acquisition means is provided.

Next, the leading vehicle 2 a acquires the vehicle length Ln of each subsequent vehicle 2 from the other vehicle information stored in the RAM 113. Here, Ln is the vehicle length of the nth vehicle 2 from the head of the platoon.
Then, the leading vehicle 2a calculates the length Lt of the convoy 10 by the following equation (1).

  Lt = (L1 + L2 +... + Ln) + La × (n−1) (1)

Here, La is an inter-vehicle distance, which is determined by a traveling state such as a platooning speed, and is notified to the succeeding vehicles 2b to 2d by the leading vehicle 2a.
In the present embodiment, the leading vehicle 2a is configured to uniformly set La and notify the subsequent vehicles 2b to 2d and cause the subsequent vehicles 2b to 2d to travel at the inter-vehicle distance. Another form may be sufficient, and in that case, Formula (1) according to the form is used.

For example, when the following vehicles 2b to 2d independently manage the inter-vehicle distance, the leading vehicle 2a acquires individual inter-vehicle distances from the following vehicles 2b to 2d by inter-vehicle communication, and adds these.
Moreover, it is also possible to send the measured value of the inter-vehicle distance from the succeeding vehicles 2b to 2d to the leading vehicle 2a and add these at the leading vehicle 2a.
As described above, the vehicle control device 1 includes a platoon length acquisition unit that acquires the platoon length, and the platoon length acquisition unit adds the vehicle length of each vehicle constituting the platoon and the distance between the vehicles. The length of the platoon is obtained based on the length.

  After the head vehicle 2a calculates the formula (1), the length Lj of the merging section 4 and the length Lt of the platoon 10 are compared by the following judgment formula (2) to determine the presence or absence of division.

Lj <Lt + α (2)
Lj ≧ Lt + α (2-2)

Here, α is a parameter that changes according to the state of the road 5, such as the road type, the speed limit, and the traffic volume, and is a correction value that corrects the length of the platoon 10 according to the state.
In equation (2), the correction value is added to the length of the convoy 10 and the length of the convoy 10 is estimated to be longer. However, the correction value is subtracted from the length of the confluence section 4 to determine the length of the confluence section 4. The length may be estimated to be shorter, or both may be performed to correct the length of the formation 10 to be longer and to estimate the length of the merging section 4 to be shorter.
By strictly setting the conditions for the convoy 10 to close the merged section by such correction, the convoy division according to the situation can be performed more reliably.

Thus, the vehicle control device 1 adds a predetermined distance (correction value) necessary for the joining vehicle to join before or after the formation in the joining section to the length of the joining section, or the length of the joining section. Length correction means for subtracting from the length is provided.
Then, the length correcting means determines the predetermined distance using at least one of the road type of the road after merging from the merging section, the speed limit on the road, and the traffic volume of the road.

When the formula (2) is satisfied, the leading vehicle 2a determines that the platoon 10 is longer than the length of the merging section 4 and determines the division of the platoon 10.
The division 10 is divided so that at least the divided platoon row satisfies the formula (2-2), and various divisions are possible under this condition as will be described later.
Further, in the case of two divisions, when the expression (2-2) cannot be satisfied, it is further divided into three or more divisions.

By dividing the row 10 in this way, the row 10 does not block the entire length of the merge section 4 in the main lane 6, and the merged vehicle is in front of the front row 11, between the front row 11 and the rear row 12, or It is possible to smoothly join the main lane 6 in any region after the rear row 12.
In addition, the convoy 10 is unconditionally divided into platoons if the conditions of the previous length are satisfied, regardless of the presence or absence of the merging vehicle, so the function of inter-vehicle communication for the merging vehicle to communicate with the convoy 10 It is not necessary to have.
In the above example, the leading vehicle 2a performs the division determination. However, the leading vehicle 2a may transmit the travel information, and the leading vehicle 2a may perform the determination of the presence / absence of the division and the division command. Any of the following vehicles 2b to 2d may perform.

FIG. 3 is a diagram for explaining a joining mode between the platoon train after division and the joining vehicle.
In this example, in the merging section 4 of the main lane 6, the merging that has entered from the merging path 3 between the front platoon 11 (leading vehicle 2a, the following vehicle 2b) and the rear platoon 12 (leading vehicle 2c, following vehicle 2d). Vehicles 21 are joining.
Thus, since the front row 11 and the rear row 12 increase the inter-vehicle distance in the merging section 4, a space for merging occurs in the merging section 4, and the merging vehicles can merge toward this point.

Each figure of Drawing 4 is a figure for explaining an example which determines a division position based on a destination of vehicles.
In general, if divisions are divided into platoons to avoid hindering merging, if a merging vehicle joins between platoons, the merging vehicle becomes an obstacle, making it difficult to return the platoon to one platoon again. .
Therefore, such a difficulty can be avoided if the division position is determined so that the platoon return is not required after the division as follows.

FIG. 4A shows a state before the platoon 10 passes through the merging section 4.
Of the vehicles 2 constituting the platoon 10, the vehicles 2 a to 2 c continue to travel on the road 5 through the branch road 8, and the vehicle 2 d is separated from the platoon 10 and exits from the branch path 8.
In this case, the head vehicle 2a divides the vehicle 2d and exits from the branch road 8 as it is when the branch road 8 is close and it is not necessary to re-enter the platoon 10 after dividing the succeeding vehicle 2d. Let
In this way, by performing the division in the merging section 4 and the division by the separation in the branch path 8, it is possible to save the trouble of returning the subsequent vehicle 2 d to the platoon 10.

  The leading vehicle 2a determines this distance based on the distance Lf from the division position (the merging section 4) to the branch path 8 that is the destination branch point, and when the Lf is shorter than the predetermined distance, the leading vehicle 2d is assigned to the platoon 10 Judge that there is no need to re-enter

In the example of the figure, as shown in FIG. 4 (b), the leading vehicle 2a determines that the subsequent vehicle 2d is a division position, and the platoon 10 is a forward platoon 11 (leading vehicle 2a, subsequent vehicles 2b, 2c), Divide into rear row 12 (leading vehicle 2d). However, it is assumed that the length of the front row 11 is shorter than the length of the merge section 4.
Thereafter, as shown in FIG. 4 (c), the leading vehicle 2 d is separated from the front row 11 and exits from the branch path 8 without returning to the row 10.

In addition, what is necessary is just to divide similarly, when the front row 11 leaves the branch road 8, and the vehicle 2d drive | works the road 5. FIG.
In this case, the leading vehicle 2a leads the front row 11 (leading vehicle 2a, following vehicles 2b, 2c) and leaves the branch road 8, and the vehicle 2d continues to travel on the road 5.

  In the above example, the succeeding vehicle 2d is separated from the platoon 10 and exits from the branch path 8. However, when the succeeding vehicles 2c and 2d exit from the branch path 8, the leading vehicle 2a determines the subsequent vehicle 2c as the division position. The rear row 12 (the leading vehicle 2c and the following vehicle 2d) is then formed. The rear row 12 (leading vehicle 2c, following vehicle 2d) is branched without reorganization of the front row 11 (leading vehicle 2a, following vehicle 2b) and the rear row 12 (leading vehicle 2c, following vehicle 2d). Evacuate from 8.

As described in the above example, the leading vehicle 2a divides the vehicles 2 having the same destination at the branch point into groups (sets), and sets each vehicle 2 so that the vehicles 2 of the same group successively follow in the formation. Dispatch and line up.
In this way, the vehicle control device 1 includes other vehicle information acquisition means for acquiring information (in this case, a destination) of other vehicles constituting the platoon, and an order based on this (the destination at the branch point of the road to be traveled). The vehicle is provided with a vehicle dispatching means for dispatching other vehicles to the platoon in the order in which the same vehicle continues, and instructs each other vehicle constituting the platoon in the order of dispatch.

Then, the leading vehicle 2a determines whether or not the branch point is close by Lf. If the branch point is close, the head vehicle 2a divides the subsequent vehicle 2 having a different destination at the branch point and separates it from the platoon 10 as it is.
As described above, the vehicle control device 1 determines the position of the vehicle having a different destination at the branch point as the divided position when the current position is within a predetermined distance from the branch point.

If there are three or more groups, if the vehicle is dispatched from the rear or from the top in the order of the closest branch point, it can be separated from the rear or from the front. There is no need to reorganize the rear row 12 into one row 10.
In addition, the front group is divided at the first branch point, the rear group is divided at the next branch point, and the front group is divided at the next branch point. May be.
In other words, it is efficient to plan the allocation so that the last group or the first group is separated at each branch point.

  As described above, in consideration of the case where it is not necessary to return to the platoon after the division, the platoon 10 is divided into groups by destination for each branch path, so that the merging can be smoothly performed and the platoon management is also performed. It can be done smoothly.

Each figure of FIG. 5 is a figure for demonstrating the example which determines a division position based on the division | segmentation number ratio and acceleration resistance of a vehicle.
When considering the formation of a single formation after dividing the formation, it is necessary to divide a single vehicle rather than dividing the formation into multiple platoons (ie, dividing the formation into a one-to-many number ratio). ), It is easier to restore this.
Therefore, in the example of FIG. 5 (a), in the convoy 10 (not shown) composed of the vehicles 2a to 2e, the convoy 10 is divided by the rearmost succeeding vehicle 2e, and the front convoy 11 (the leading vehicle 2a, the succeeding vehicle). The vehicles 2b to 2d) and the rear row 12 (the leading vehicle 2e) are formed.

Since the rear row 12 is composed of a single vehicle 2, it is easier to return the vehicle 2e to the front row 11 than when a plurality of vehicles 2 are returned.
Although the leading vehicle 2a may be divided, each subsequent vehicle 2 is traveling by receiving the traveling information of the leading vehicle 2a. Therefore, when dividing a single vehicle 2, the last following vehicle It is desirable to divide two.

Furthermore, if the vehicle with the smallest acceleration resistance (vehicle 2e in the example shown in the figure) is allocated at the end and is divided, the vehicle 2e can be easily accelerated and decelerated and the lane can be changed, and the fuel consumption can be improved. It is more preferable because it improves.
In this manner, by dividing the vehicle 2 having the smallest acceleration resistance at the end of the row 10 and dividing it, the division and return processing of the row 10 becomes easier.
In this example, the vehicle control device 1 distributes the vehicle having the smallest acceleration resistance to the rearmost position of the platoon, and determines the rearmost vehicle position as the division position.

Here, the acceleration resistance is the sum of inertial resistance caused by linear acceleration of the vehicle body and inertial resistance caused by angular acceleration of the rotating system, which is generated when the vehicle is linearly accelerated, and Ra = (m + Δm) × A It is expressed.
Here, m is the mass of the vehicle, A is the acceleration of the vehicle, and m × A is the inertial resistance due to the linear acceleration of the vehicle body.
Δm × A is the inertial resistance due to the rotational motion of the engine, transmission, drive shaft, tire, etc., and Δm is the amount obtained by converting the amount corresponding to m of the linear motion in the rotational motion into mass.
The acceleration resistance Ra is one of the four driving resistances in an automobile, and the total driving resistance R is represented by R = Rr + Rl + Rs + Ra. Here, Rr is rolling resistance, Rl is air resistance, and Rs is climbing resistance.

Further, even when the front row 11 and the rear row 12 are both divided into a plurality of units (that is, when the row 10 is divided into a many-to-many ratio), the acceleration resistance of the rear row 12 is summed. If the vehicle 2 is dispatched so that becomes smaller, the rear row 12 can be easily returned.
For example, in the example of FIG. 5B, the convoy 10 (not shown) is composed of vehicles 2a to 2e, and the vehicles 2d and 2e having the smallest acceleration resistance in the convoy are arranged at the end. .
In this case, if the rear row 12 (first vehicle 2d, subsequent vehicle 2e) is formed by dividing the vehicle 2d, the sum of the acceleration resistances of the rear row 12 by the two vehicles 2 is minimized.

That is, since the two units having the smallest acceleration resistance are arranged at the tail, the sum of the acceleration resistance of the vehicle 2e and the acceleration resistance of the vehicle 2d is the sum of the acceleration resistances by selecting any two of the vehicles 2a to 2e. When the value is taken, the combination is such that the value is minimized.
If the sum of the acceleration resistances of the rear row 12 is small, acceleration / deceleration of the rear row 12 is facilitated. Therefore, the rear row 12 is followed by the front row 11 (the leading vehicle 2a, the succeeding vehicles 2b, 2c) at the opportunity. It becomes easy to return to a single formation.

As described above, the vehicle control device 1 distributes a plurality of vehicles constituting the rear of the platoon so that the total acceleration resistance is minimized, and divides the allocated vehicles into the rear platoon. Is determined.
If the vehicle 2 is dispatched from the rear in the order of decreasing acceleration resistance, the sum of the acceleration resistances of the rear row 12 may be minimized among the same number of combinations when divided at an arbitrary division position. it can.

By the way, if the total acceleration resistance of the rear row 12 is small, the rear row 12 may be accelerated to overtake the front row 11 to join the front row 11 from the front, and the front row 11 may be made to follow the rear row 12. It becomes possible.
In this case, even if the joining vehicle 21 is traveling between the front row 11 and the rear row 12, the rear row 12 overtakes the joining vehicle 21 together with the front row 11, so that the joining from the front is possible.

In the example shown in FIG. 5 (c), the rear row 12 overtakes the front row 11 to facilitate the return of the row.
The front row 11 (leading vehicle 2a, following vehicles 2b, 2c) and the rear row 12 (leading vehicle 2d, following vehicles 2e) are formed by dividing the row 10 (leading vehicle 2a, following vehicles 2b-2e) not shown. It has been done.

  If the joining vehicle 21 does not join between the front row 11 and the rear row 12 after the division, the rear row 12 easily accelerates to catch up with the rear side of the front row 11 because the acceleration resistance is small, and the row 10 again Can be organized.

However, if the joining vehicle 21 joins between the front row 11 and the rear row 12, the joining vehicle 21 becomes an obstacle, and the rear row 12 cannot catch up behind the front row 11.
In this case, since the rear platoon 12 has a small acceleration resistance and is easy to accelerate and decelerate and change lanes, as shown by the arrow, the lane change is made to the sub lane 7 to overtake the merging vehicle 21 and the front platoon 11, and then The lane is changed to the main lane 6 in front of the front row 11.

After the rear row 12 joins ahead of the front row 11 in this way, the leading vehicle 2d of the rear row 12 has a row 10a (the leading vehicle 2d, The following vehicles 2e, 2a to 2c) are knitted.
Thereby, even if a joining vehicle enters between the divided platoons, the platoons can be easily reorganized.

  The leading vehicle 2e shown in FIG. 5A overtakes the front row 11, joins from the front of the front row 11, and forms the row 10 (leading vehicle 2e, subsequent vehicles 2a to 2d). You can also.

  In this way, the vehicle control device 1 passes the front row and moves forward when the own vehicle is the first vehicle in the rear row and another merging vehicle enters between the front row and the rear row in the merge section. An overtaking means that joins the front row is provided, and a vehicle belonging to the front row can be allocated to a succeeding vehicle of the own row.

  Furthermore, the vehicle control device 1 is a vehicle in which the own vehicle belongs to the front row, the rear row overtakes the front row, joins, and is instructed to dispatch the vehicle from the head vehicle of the rear row before joining to the rear row. The vehicle allocation as the succeeding vehicle of the head vehicle is accepted.

FIG. 6 is a flowchart for explaining the procedure of the dividing process performed by the vehicle control device 1.
This process is performed by the CPU 111 of the vehicle control device 1 mounted on the leading vehicle 2 in the leading mode by executing the row running program 125.
When the platoon 10 is organized, the CPU 111 sends the traveling information to the vehicle control device 1 of the succeeding vehicle 2 in the head mode and leads the platoon 10.
Then, the CPU 111 starts the division process and starts monitoring whether or not the merging section 4 exists in front of the road 5.
In the following processing, when the road 5 has a plurality of lanes, it is assumed that the platoon 10 is traveling in a merged lane.

First, the CPU 111 acquires the current position by the current position detection unit 131 (step 5), and further acquires traffic information (such as the congestion state of the road 5 and traffic regulations) using the peripheral information collection unit 170 and the communication unit 160. (Step 10).
Next, the CPU 111 refers to the map information 121 for the current position, specifies the nearest merging section 4 that is in front of the current traveling position, acquires the distance to the merging section 4, and further It is determined whether the distance to the section 4 is within a predetermined distance (step 15).

If the distance to the merge section 4 is not within the predetermined distance (step 15; N), the CPU 111 returns to step 5 because the formation 10 has not yet approached the merge section 4.
On the other hand, when the distance to the merge section 4 is within a predetermined distance (step 15; Y), the formation 111 is close to the merge section 4, and thus the CPU 111 starts determining whether or not there is a division.

First, the CPU 111 acquires the length Lj of the merging section 4 by referring to the high-accuracy road map information 122 and stores it in the RAM 113 (step 20, see FIG. 2A).
Next, the CPU 111 reads the vehicle length of each succeeding vehicle 2 forming the platoon 10 from the other vehicle information of the RAM 113, and calculates the length Lt of the platoon 10 by substituting these into equation (1) and calculating. Obtain (step 25). The CPU 111 stores the calculated Lt in the RAM 113.

Next, the CPU 111 determines the parameter α based on predetermined conditions, and further calculates Expression (2) using Lj and Lt stored in the RAM 113. Then, the CPU 111 determines whether or not to divide the platoon 10 based on the calculation result (step 30).
When the inequality of Expression (2) is not satisfied, that is, when the corrected length (Lt + α) of the formation 10 is shorter than the length Lj of the merge section 4, the CPU 111 determines that it is not necessary to divide the formation 10 (Step 30; N), the process proceeds to Step 50.

  On the other hand, when the inequality of Expression (2) is satisfied, that is, when the corrected length (Lt + α) of the formation 10 is longer than the length Lj of the merge section 4, the CPU 111 needs to divide the formation 10 (Step 30; Y), the length of the platoon string that satisfies the equation (2-2) is acquired (Step 35). This length is the maximum length of the platoon that does not require division in consideration of the parameter α. In the determination of the subsequent division position, the length of the platoon string after division is equal to or less than this length. Done.

Next, the CPU 111 determines a division position by division method determination processing (step 40), and executes division control such as issuing a division command to the following vehicle 2 at the division position (step 45).
Next, the CPU 111 determines whether or not to continue the row running (step 50). When the row running is continued (step 50; Y), the CPU 111 returns to step 5 and does not continue (for example, the driver runs the row running). When the row running is canceled by selecting a cancel button or the like, step 50; N) ends the dividing process.

FIG. 7 is a flowchart for explaining the procedure of the division method determination process in step 40.
In addition, when there are vehicles 2 with the same destination, the convoy 10 is organized in advance so that the vehicles 2 with the same destination are continuous.
Here, the same destination means that the traveling direction is the same at the branch point of the road 5. For example, if the destination of the vehicle 2 in the city A and the vehicle 2 in the city B proceed to the same branch road 8 at the branch point of the road 5, the destination is the same.

In addition, the vehicle 2 with the lowest acceleration resistance is allocated at the end of the formation of the convoy 10, and the sum of the acceleration resistances of the vehicles behind the vehicle is minimized, such as the vehicles 2 with the lowest acceleration resistance are collectively arranged at the rear. It is assumed that the vehicle is dispatched as follows.
In addition, when the case where the vehicle 2 is dispatched collectively by the above destinations and the case where the vehicle 2 with small acceleration resistance is collectively dispatched rearward are not compatible, the former is given priority, for example.
In this case, the destination group having the smallest total acceleration resistance is allocated at the end, and further, in the same group, the vehicles 2 are allocated from the end in the order of decreasing acceleration resistance.

The CPU 111 confirms the destination of each vehicle 2 constituting the platoon 10 using the other vehicle information stored in the RAM 113, and determines whether there is a vehicle 2 with a different destination in the platoon (step 60, FIG. 4). (See (a)).
When there is no vehicle 2 with a different destination in the platoon (step 60; N), the CPU 111 determines whether or not the platoon 10 can be reorganized by one-to-many division (see step 65, FIG. 5A).

When one-to-many knitting is possible (step 65; Y), the CPU 111 selects the vehicle 2 with the least acceleration resistance traveling at the tail as the division position (step 70), and thereby the tail vehicle 2 is selected. A front row 11 excluding the rear row 12 constituted by the rearmost vehicle 2 is set (step 75), and the process returns to the main routine.
In this case, since the last vehicle 2 and the front row 11 divided as the rear row 12 have the same destination, the rear row 12 returns to the front row 11 later.

On the other hand, when one-to-many formation is not possible (step 65; N), the CPU 111 sets the rear row 12 so that the acceleration resistance of the rear row 12 is minimized (see step 90, FIG. 5B), and the main Return to routine.
Also in this case, since the rear row 12 and the front row 11 have the same destination, the rear row 12 returns to the front row 11 later.

Further, when there is a vehicle 2 with a different destination in the platoon (step 60; Y), the CPU 111 determines whether or not the length of the section traveling in the divided state is equal to or less than the predetermined distance Lf (step 80, FIG. 4). (See (a)).
If the length of the section is not less than or equal to Lf (step 80; N), since there is a sufficient distance to travel after the division, the CPU 111 proceeds to step 65 to perform division on the assumption that the train 10 is returned to.

  On the other hand, if the length of the section is equal to or less than Lf (step 80; Y), a division to be divided by destination is set without considering the return of the division after division, since the branch point will be reached soon after division. (Step 85).

The embodiment described above has the following effects.
(1) Since the vehicle control device 1 provides a space for dividing and merging the platoon 10 as necessary regardless of the presence or absence of the merging vehicle 21, even if the merging vehicle 21 cannot communicate with the platoon 10, It can join smoothly. That is, even if the joining vehicle 21 does not have a communication function, it can be avoided that the formation prevents the joining vehicle 21 from joining.
(2) The length of the merging section 4 is various, and may be blocked by a row 10 constituted by two vehicles 2, or may not be blocked by a long row 10. The vehicle control device 1 dynamically sets the length of the platoon row according to the situation so that the length of the platoon 10 is shorter than the length of the merging zone 4. Even so, a space for joining can be provided flexibly and reliably.
(3) The vehicle control device 1 can distribute the following vehicles 2 as a group for each destination, and divide the platoon train into groups along with the division by dividing the platoon train again by dividing the group into platoon trains. This saves you the trouble of combining them into a single formation.
(4) By making the vehicle 2 having a small acceleration resistance the target of division, it becomes easy to combine the platoon trains into a single train again.

(Second Embodiment)
In this embodiment, when the length of the convoy 10 is longer than the length of the confluence section 4, the travel lane of the convoy 10 is determined and changed so as to avoid the lane where the confluence vehicle 21 merges.
FIG. 8 is a diagram for explaining a case where the vehicle travels avoiding the merge lane.
If the platoon 10 is divided into platoons and the joining vehicle 21 enters between them, it will be difficult to return to one platoon again.
Therefore, as shown in FIG. 8, when the convoy 10 is longer than the confluence section 4, the convoy 10 is not divided into the confluence section 4, and the main lane 6, which is a confluence lane, as indicated by the arrow line, is shown. Evacuate to sub lane 7.
By moving the lane in this way, it is possible to avoid the merging hindrance without dividing the platoon 10.

By the way, when dividing the formation 10, only the space between the front formation 11 and the rear formation 12 is left, so there is no particular factor that prevents the division, and it is possible to determine the presence or absence of division before the merge section 4. it can.
However, when moving lanes, a sufficiently long lane change section is required, or depending on the route to the destination, it may be necessary to move to the branch road side, such as an exit, or the lane change site Depending on the traffic volume of the vehicle, it may be difficult to change lanes and the formation 10 may collapse.

Since such frequent and complicated lane changes need to be avoided, in the present embodiment, a lane movement plan for avoiding such difficulties as much as possible is determined in advance.
Hereinafter, a method for determining a traveling lane will be described with reference to FIGS. 9 and 10.

First, the leading vehicle 2 (the following process may be performed by the following vehicle 2) specifies all merging sections of the road to be traveled.
For example, as shown by the arrow in FIG. 9A, it is assumed that a row 10 (not shown) enters the road 5 from the combined flow path 3 c and leaves the branch path 8. In this case, the leading vehicle 2 specifies the merging sections 4a and 4b.

Next, the leading vehicle 2 compares the length of the merging section 4 with the length of the platoon 10 for each merging section 4 and determines whether the platoon 10 needs to be divided.
In the example of FIG. 9B, the vehicle 2 determines that division is necessary in the merging section 4a and that division is not necessary in the merging section 4b.

By the way, the determination of the presence / absence of division performed in the first embodiment is simply to determine whether or not the platoon 10 is to be divided, but the determination of presence / absence of division performed in the second embodiment will be described later. As described above, when it is necessary to divide, it is determined that the lane movement is performed without dividing as much as possible, and that the division is performed in an exceptional case (for example, see FIG. 10G).
Therefore, the determination of whether or not it is necessary to divide in this embodiment can be rephrased as the determination of whether or not it is necessary to move the lane while avoiding the merged lane.

In order to compare the lengths of the convoy 10 and the confluence section 4, the convoy 10 is described so as to overlap the confluence section 4. As shown in the figure, in the merging section 4a, the convoy 10 is longer than the merging section 4a and needs to be divided (that is, lane movement is necessary), but in the merging section 4b, the convoy 10 is in the merging section 4b. Shorter than that and need not be divided (ie, there is no need to move lanes).
The division determination method and the correction of the length of the platoon 10 are the same as described above, and are performed using equations (1) and (2).

Next, in the merging section 4 that needs to be divided, the leading vehicle 2 is set as a recommended lane for traveling while avoiding the merging lane without dividing the lane 10 from the lane different from the merging lane.
Further, in a section where the branch road 8 where the platoon 10 travels is close, in order to avoid frequent lane changes, the lane on the branch road 8 side is recommended regardless of the presence or absence of the merging section 4 to be divided. If there is a merging section 4 to be divided in this section, this corresponds to the exceptional case described above, and the platoon 10 is divided.

In the example of FIG. 9C, the leading vehicle 2 sets the sub lane 7 to the recommended lane 9a because the main lane 6 is a merging lane with the merging channel 3a in the merging section 4a that needs to be divided.
On the other hand, since the merging section 4b is a section that does not require division, there is no recommended lane setting.
Further, in a section within a predetermined distance from the branch road 8 on which the platoon 10 travels, it is necessary to move to the lane on the branch road 8 side earlier, so the main lane 6 is set to the recommended lane 9b.

Next, the leading vehicle 2 determines a candidate for a section in which the lane is changed except for the section before the junction section 4 and the branch road 8 where the platoon 10 travels.
This is because it is not preferable to change lanes in the merging section 4 because the lane change must already be completed in the section before the branch road 8 where the platoon 10 is scheduled to branch off the road 5 and travel. is there.

  In the example of FIG. 10D, the leading vehicle 2 sets the lane change section candidates 15a and 15b as candidates except for the sections of the merge sections 4a and 4b and the recommended lane 9.

  Next, the leading vehicle 2 calculates the length of the lane change section candidate 15, and if the following formula (3) is not satisfied, the section length is not sufficient to change the lane, Remove from the candidate.

  Lt × β × γ <Lc (3)

Here, Lt represents the length of the convoy 10 as in the equation (1), β and γ are parameters larger than 1 that change depending on the length of the convoy 10 and the traffic volume, respectively, The longer the length, the larger the γ, and the larger the traffic in the candidate lane change section, the larger γ.
Lc is the length of each lane change section candidate 15. Alternatively, Lc may be multiplied by a coefficient smaller than 1 corresponding to β and γ.

  Since the lane change becomes more difficult as the length of the platoon 10 is larger or the traffic volume in the section where the lane is changed is larger, the length of the platoon 10 is estimated to be longer by multiplying the coefficient, and the size judgment is strict. Judge for

As described above, the vehicle control device 1 determines a section in which the platoon changes the lane from a traveling section that is longer than the length of the platoon among the sections other than the merging section.
In addition, the vehicle control device 1 determines the section after correcting the length of the convoy to increase the length of the convoy or the length of the traveling section, and the degree of the correction increases as the convoy length increases. The larger the traffic volume in the travel section, the larger it becomes.

In the example of FIG. 10E, the lane change section candidate 15a satisfies the formula (3), and thus the lane change is possible and remains as a candidate.
On the other hand, since the lane change section candidate 15b does not satisfy the expression (3), the lane change cannot be performed and the candidate is excluded from the candidates.
The leading vehicle 2 creates a lane movement plan based on the recommended lane 9 and the lane change section candidate 15 determined as described above.

In the example of FIG. 10 (f), based on the recommended lanes 9a and 9b and the lane change section candidate 15a remaining as a candidate, as indicated by the arrow line, the vehicle travels on the sub lane 7 until the merging section 4a. A lane movement plan is created in which the lane change section candidate 15 a changes the lane to the main lane 6, travels the main lane 6 as it is, and exits from the branch road 8.
The leading vehicle 2 finds a point where the lane can be changed while listening to the surrounding traffic situation by the surrounding information collection unit 170 while traveling the lane change section candidate 15a, and changes the lane.

In the above example, since the main lane 6 can be traveled in the merging section 4b, the lane change section candidate 15a can be used to change the lane, and then the vehicle can leave the branch road 8 as it is.
By the way, if the length of the convoy 10 is longer than the length of the confluence section 4b in the confluence section 4b, for example, it can be determined as follows.

As shown in FIG. 10G, consider a case where the length of the platoon 10 is longer than the length of the merging section 4b.
In this case, the recommended lane 9c is set to the sub lane 7 in the merging section 4b. However, when the lane 7 is driven in the merging section 4b, there is no lane changing section up to the branch path 8 and then the branch lane 8 is exited. I can't.
In such a case, the branch road 8 is prioritized, and the platoon 10 travels in the main lane 6 while being divided at the merging section 4b.

As described above, the vehicle control device 1 divides the platoon into platoons having a length shorter than the merging section in a predetermined case even when the platoon is longer than the length of the merging section. Control to drive in the lane.
In this way, when the traveling mode that avoids the merging lane is mainly combined with the traveling mode that divides the platoon, the lane movement plan can be created more flexibly.

FIG. 11 is a diagram for explaining the timing at which the vehicle control device 1 determines the presence / absence of division and the lane.
The travel route 16 is a route along which the convoy 10 travels. As shown in the figure, the convoy 10 (not shown) enters the road 5 through the confluence 3c, avoids the main lane 6 in the confluence section 4a, and avoids the sub lane 7. Drive on.
Next, the lane is changed to the main lane 6 in the section before the merging section 4b, and after exiting the merging section 4b, the vehicle exits the branch road 8.
As described above, the vehicle control device 1 determines and determines the lane movement plan in the section 17 before entering the road 5.
Further, whether or not there is a division is determined in the section 18 before traveling in the merging section 4.

As described above, the vehicle control device 1 performs a lane movement plan before entering a section where a lane movement plan is necessary, that is, a road having a plurality of lanes.
On the other hand, whether or not there is a division is determined for each merging section 4 when traveling in a lane adjacent to the merging passage 3 and approaching within a predetermined distance reaching the merging section 4.
If the lane movement plan cannot be executed after entering the road 5 due to other vehicle factors, the lane movement plan is re-created and updated before passing the merging section 4 or before entering the road 5 in advance. It can also be configured to determine a plan for the presence or absence of division.

FIG. 12 is a flowchart for explaining the procedure of the lane movement plan process.
First, the CPU 111 specifies the current position of the host vehicle and the lane in which the vehicle is traveling (step 100), then acquires traffic information (step 105), and further specifies (acquires) a travel route scheduled to travel from now on. (Step 110).

Next, the CPU 111 acquires the length of the platoon 10 according to the equation (1) (step 115).
Further, the CPU 111 acquires all the merge sections 4 existing on the acquired travel route from the map information 121 (see step 120, FIG. 9A), and sets the length of each merge section 4 to the high-precision road map information. Obtained from 122 (step 125).

Next, the CPU 111 calculates Equation (2) for the first merge section 4 and determines whether or not the division 10 needs to be divided (see step 130, FIG. 9B).
When division is necessary (step 130; Y), the CPU 111 recommends a lane different from the merged lane (see step 135, recommended lane 9a in FIG. 9C).
On the other hand, when division is not necessary (step 130; N), any lane may be traveled, so no lane recommendation is made (see step 140, FIG. 9 (c) merging section 4b).

Next, the CPU 111 determines whether or not division has been determined for all merge sections (step 145).
When there is a merging section that has not yet been determined (step 145; N), the CPU 111 returns to step 130 and determines the next merging section.
On the other hand, when it determines about all the merge sections (step 145; Y), CPU111 sets the recommended lane in the last point (refer step 150 and FIG.9 (c) recommended lane 9b).

As described above, after setting the recommended lane, the CPU 111 acquires lane change section candidates (see step 155, FIG. 10D, lane change section candidates 15a and 15b).
Next, the CPU 111 determines whether or not the lane change is possible in the section by calculating Equation (3) in the first candidate among the acquired lane change section candidates (step 160, FIG. 10 ( e)).

When the lane change is possible (step 160; Y, see FIG. 10 (e) lane change section candidate 15a), the CPU 111 sets the section as the lane change section (step 165, FIG. 10 (f) lane change). Further, it is determined whether or not all lane change section candidates have been determined (see section candidate 15a) (step 170).
On the other hand, when the lane change is not possible (step 160; N, see FIG. 10E, lane change section candidate 15b), the CPU 111 proceeds to step 170.

The CPU 111 determines the lane change section candidate as described above. If there is a section that has not been determined yet (step 170; N), the CPU 111 returns to step 160 and determines the next lane change section candidate.
On the other hand, when all the lane change section candidates are determined (step 170; Y), the CPU 111 sets a lane movement plan based on the recommended lane and the lane change section determined above and stores them in the RAM 113 (step 175, The process ends (see FIG. 10 (f) arrow).

According to the embodiment described above, the following effects can be obtained.
(1) The vehicle control device 1 avoids the merging lane 21 by traveling the lane 10 different from the merging lane as necessary, regardless of the presence or absence of the merging vehicle 21. Even so, it can smoothly merge.
(2) The vehicle control device 1 can perform the lane movement according to the situation so that the lane movement is performed when the length of the platoon 10 is shorter than the length of the merging section 4.
(3) The vehicle control device 1 can suppress frequent and complicated lane movement by making a lane movement plan in advance.
(4) The vehicle control device 1 can create a more flexible lane movement plan by combining division of the platoon 10 as necessary in addition to lane movement.
(5) Since the vehicle control device 1 plans a lane change section in which lane movement is performed, the vehicle control apparatus 1 moves in a lane at an arbitrary point within the section while looking for the timing of easy lane movement while determining surrounding traffic conditions. Can do.

The described first embodiment and second embodiment are examples, and various modifications are possible.
For example, in the first embodiment, the division determination is performed for each merging section before the merging section. In the second embodiment, the lane movement plan is created before entering the road 5, but the division determination is performed on the road 5 It may be planned before entering the road, or the lane movement may be determined for each merging section before the merging section.
As described above, the determining means of the vehicle control device 1 can determine in advance the division and the lane movement before entering the road where the platoon has the merging section, and the platoon enters the merging section. It is also possible to make a decision for each merging section before the distance.

The present embodiment can also be configured as follows.
(11) Configuration 11
When mounted on a vehicle that performs platooning using inter-vehicle communication and is mounted on the leading vehicle, the traveling information is transmitted to the following vehicle that constitutes the platoon, and when mounted on the following vehicle, the leading vehicle A row running management device that controls running based on running information from
Formation length acquisition means for acquiring the length of the formation;
A merging section identifying means for identifying a merging section where other roads merge with a road on which the row is scheduled to travel;
Merging section length acquisition means for acquiring the length of the identified merging section;
Determining means for determining a running mode of the convoy in the confluence section based on the length of the acquired confluence section and the length of the acquired convoy;
Instructing means for instructing other vehicles constituting the platoon to perform operations necessary to travel in the travel mode of the determined platoon;
A row running management device comprising:
(12) Configuration 12
12. The convoy travel management apparatus according to claim 11, wherein the determining means determines whether or not to divide the convoy with respect to the merging section.
(13) Configuration 13
The determining means determines a division position for dividing the platoon into platoons having a length shorter than the merging section when the platoon is longer than the merging section.
13. The convoy travel management apparatus according to configuration 12, wherein the instructing unit instructs the other vehicle to determine the determined division position.
(14) Configuration 14
The instruction means includes
When the determining means determines to divide the platoon into two platoons, a forward platoon and a backward platoon, at least one instruction of acceleration for the forward platoon or deceleration for the backward platoon is performed. The convoy travel management apparatus according to Configuration 12 or Configuration 13.
(15) Configuration 15
If your vehicle receives a split position indication and is at the beginning of the split platoon row,
15. The convoy travel management apparatus according to Configuration 13 or Configuration 14, wherein travel information is transmitted to a subsequent vehicle as a leading vehicle for the platoon after the division.
(16) Configuration 16
The formation length acquisition means acquires the length of the formation based on a length obtained by adding the vehicle length of each vehicle constituting the formation and the distance between the vehicles. The convoy travel management device according to any one of the configurations.
(17) Configuration 17
A length by which a merging vehicle adds a predetermined distance required for merging before or after the platoon in the merging section to a length of the acquired platoon or subtracts from a length of the acquired merging section The row running management device according to any one of the configurations 12 to 16, further comprising a height correcting means.
(18) Configuration 18
The length correcting means determines the predetermined distance using at least one of a road type of a road after merging from the merging section, a speed limit on the road, and a traffic volume of the road. The convoy travel management apparatus according to Configuration 17.
(19) Configuration 19
The length correction means increases the degree of correction as the length of the acquired convoy is longer and as the traffic volume in the travel section is larger.
The convoy travel management apparatus according to Configuration 17 or Configuration 18, wherein
(20) Configuration 20
When mounted on a vehicle that performs platooning using inter-vehicle communication and is mounted on the leading vehicle, the traveling information is transmitted to the following vehicle that constitutes the platoon, and when mounted on the following vehicle, the leading vehicle A program that causes a computer to function as a convoy travel management device that controls travel based on travel information from
A row length acquisition function for acquiring the length of the row;
A merging section specifying function for specifying a merging section where other roads merge with the road on which the convoy is scheduled to travel;
A merge section length acquisition function for acquiring the length of the identified merge section;
A determination function for determining a running mode of the convoy in the confluence section based on the length of the acquired confluence section and the length of the acquired convoy;
An instruction function for instructing other vehicles constituting the platoon to perform an operation necessary for traveling in the travel mode of the determined platoon;
A platooning management program to make a computer realize.

It is also possible to configure as follows.
(31) Configuration 31
When mounted on a vehicle that performs platooning using inter-vehicle communication and is mounted on the leading vehicle, the traveling information is transmitted to the following vehicle that constitutes the platoon, and when mounted on the following vehicle, the leading vehicle A row running management device that controls running based on running information from
Formation length acquisition means for acquiring the length of the formation;
A merging section identifying means for identifying a merging section where other roads merge with a road on which the row is scheduled to travel;
Merging section length acquisition means for acquiring the length of the identified merging section;
Lane length determining means for determining travel of a non-merging lane other than a merging lane in which the other roads merge in the merging section, when the length of the acquired merging section is longer than the length of the acquired platoon.
Instructing means for instructing the other vehicles constituting the platoon to travel in the determined non-merging lane;
A row running management device comprising:
(32) Configuration 32
The lane determination means determines a change section in which the platoon changes a lane from a travel section longer than the length of the acquired platoon among sections excluding the merging section,
The instruction means instructs the other vehicle to change the lane to the non-merging section in the change section.
The convoy travel management apparatus according to Configuration 31, wherein:
(33) Configuration 33
The lane determining means determines at least the changed section after at least correcting the length of the acquired platoon or shortening the length of the traveling section,
The row running management device according to configuration 32, wherein:
(34) Configuration 34
The lane determining means may be configured such that, even if the platoon is longer than the length of the merging section, if the change section does not exist before the merging section, the lane determining means has a shorter length than the merging section. To divide into the platoon row and decide to travel in the lane to join,
The row running management device according to Configuration 32 or Configuration 33, wherein:
(35) Configuration 35
The lane determining means determines in advance the lane in which the platoon travels and the change section before the platoon enters the road having the merging section.
The convoy travel management apparatus according to any one of the configurations 32 to 34, characterized in that:
(36) Configuration 36
The lane determining means determines whether the length of the acquired merging section is longer than the length of the acquired platoon for each of the merging sections before the predetermined distance before the platoon enters the merging section. Make a decision,
The convoy travel management apparatus according to any one of the configurations 31 to 34, wherein:
(37) Configuration 37
The row length acquisition means acquires the length of the row based on the length obtained by adding the vehicle length of each vehicle constituting the row and the distance between the vehicles.
The convoy travel management apparatus according to any one of the configurations 31 to 36, characterized in that:
(38) Configuration 38
A length by which a predetermined distance required for a merging vehicle to merge before or after the platoon in the merging section is added to the length of the acquired platoon or subtracted from the length of the acquired merging section Correction means;
The convoy travel management device according to any one of the configurations 31 to 37, comprising:
(39) Configuration 39
The length correcting means determines the predetermined distance using at least one of a road type of a road after merging from the merging section, a speed limit on the road, and a traffic volume of the road.
The convoy travel management apparatus according to Configuration 38, wherein:
(40) Configuration 40
The length correction means increases the degree of correction as the length of the acquired convoy is longer and as the traffic volume in the travel section is larger.
The convoy travel management apparatus according to Configuration 38 or Configuration 39, characterized in that:
(41) Configuration 41
When mounted on a vehicle that performs platooning using inter-vehicle communication and is mounted on the leading vehicle, the traveling information is transmitted to the following vehicle that constitutes the platoon, and when mounted on the following vehicle, the leading vehicle A program that causes a computer to function as a convoy travel management device that controls travel based on travel information from
A row length acquisition function for acquiring the length of the row;
A merging section specifying function for specifying a merging section where other roads merge with the road on which the convoy is scheduled to travel;
A merge section length acquisition function for acquiring the length of the identified merge section;
A lane determining function for determining the travel of a non-merging lane other than the merging lane in which the other roads merge in the merging section, when the length of the acquired merging section is longer than the length of the acquired convoy;
An instruction function for instructing other vehicles constituting the platoon to travel on the determined non-merging lane;
A platooning management program that enables computers to realize this.

DESCRIPTION OF SYMBOLS 1 Vehicle control apparatus 2 Vehicle 3 Junction flow path 4 Junction section 5 Road 6 Main lane 7 Sub lane 8 Branch road 9 Recommended lane 10 Convoy 11 Front convoy 12 Rear convoy 15 Lane change section candidate 16 Traveling path 17 Section 18 Section 110 Control part 111 CPU
112 ROM
113 RAM
DESCRIPTION OF SYMBOLS 120 Memory | storage part 121 Map information 122 High-precision road map information 123 Own vehicle information 124 Navigation program 125 Convoy travel program 130 Car information detection part 131 Current position detection part 132 Vehicle speed sensor 133 Acceleration sensor 134 Steering sensor 135 Brake sensor 136 Throttle sensor 140 Display Unit 150 input unit 160 communication unit 170 peripheral information collection unit 171 distance sensor 172 camera 180 actuator control unit 181 steering actuator 182 brake actuator 183 throttle actuator

Claims (12)

  1. When mounted on a vehicle that performs platooning using inter-vehicle communication and is mounted on the leading vehicle, the traveling information is transmitted to the following vehicle that constitutes the platoon, and when mounted on the following vehicle, the leading vehicle A row running management device that controls running based on running information from
    Other vehicle information acquisition means for acquiring information of other vehicles constituting the platoon,
    Based on the acquired other vehicle information, a vehicle dispatching means for determining a travel position in the platoon, and allocating the vehicle by instructing the travel position to other vehicles constituting the platoon;
    Formation length acquisition means for acquiring the length of the formation;
    A merging section identifying means for identifying a merging section where other roads merge with a road on which the row is scheduled to travel;
    Merging section length acquisition means for acquiring the length of the identified merging section;
    Division means for determining a division position for dividing the platoon into platoons having a length shorter than the merging section when the length of the acquired merging section is longer than the length of the acquired platoon; ,
    The vehicle allocation means instructs the determined position to the other vehicle;
    A row running management device characterized by that.
  2. The vehicle allocation means allocates the vehicle with the smallest acceleration resistance from the information of the acquired other vehicle to the rear end of the platoon,
    The determining means determines the rearmost vehicle position as a divided position;
    The convoy travel management apparatus according to claim 1.
  3. The vehicle allocation means allocates a plurality of vehicles having a minimum total acceleration resistance to the rear of the platoon from the acquired information on other vehicles,
    The determining means determines the division position so as to divide the plurality of vehicles that have been dispatched as a rear row,
    The convoy travel management apparatus according to claim 2.
  4. The vehicle allocation means allocates vehicles such that the same traveling direction continues when the traveling direction after a predetermined branch point of the road to be traveled is different,
    The determining means determines a position of a vehicle having a different destination at the branch point as a divided position.
    The convoy travel management apparatus according to claim 2.
  5. The determining means determines a dividing position when the current position is within a predetermined distance from the branch point;
    The convoy travel management apparatus according to claim 4.
  6. When the host vehicle is the first vehicle in the divided rear row, and another merged vehicle enters between the divided front row and the rear row in the merged section, the vehicle travels to the subsequent vehicle constituting the rear row Sending information, and overtaking means for overtaking the front row and joining the front row,
    When the overtaking means joins ahead of the front row, the dispatching means places a vehicle belonging to the front row to a succeeding vehicle of the own row,
    The convoy travel management apparatus according to claim 3.
  7. When the own vehicle is a vehicle belonging to the divided front row, and when traveling information is received from the leading vehicle of the rear row, the traveling is controlled based on the received traveling information.
    The convoy travel management apparatus according to claim 6.
  8. The row length acquisition means acquires the length of the row based on the length obtained by adding the vehicle length of each vehicle constituting the row and the distance between the vehicles.
    The convoy travel management device according to any one of claims 1 to 7, wherein the convoy travel management device is characterized in that:
  9. A length by which a predetermined distance required for a merging vehicle to merge before or after the platoon in the merging section is added to the length of the acquired platoon or subtracted from the length of the acquired merging section Correction means;
    The row running management device according to any one of claims 1 to 8, characterized by comprising:
  10. The length correcting means determines the predetermined distance using at least one of a road type of a road after merging from the merging section, a speed limit on the road, and a traffic volume of the road.
    The convoy travel management apparatus according to claim 9.
  11. The length correction means increases the degree of correction as the length of the acquired convoy is longer and as the traffic volume in the travel section is larger.
    The convoy travel management device according to claim 9 or 10, wherein
  12. When mounted on a vehicle that performs platooning using inter-vehicle communication and is mounted on the leading vehicle, the traveling information is transmitted to the following vehicle that constitutes the platoon, and when mounted on the following vehicle, the leading vehicle A program that causes a computer to function as a convoy travel management device that controls travel based on travel information from
    Other vehicle information acquisition function for acquiring information of other vehicles constituting the platoon,
    Based on the acquired other vehicle information, determining a traveling position in the platoon, and dispatching by instructing the traveling position to other vehicles constituting the platoon,
    A row length acquisition function for acquiring the length of the row;
    A merging section specifying function for specifying a merging section where other roads merge with the road on which the convoy is scheduled to travel;
    A merge section length acquisition function for acquiring the length of the identified merge section;
    A division function for determining a division position for dividing the platoon into platoons having a length shorter than the merging section when the length of the acquired merging section is longer than the length of the acquired platoon; To realize
    The vehicle allocation function instructs the other vehicle on the determined division position.
    A convoy travel management program characterized by that.
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